A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning
The inertial measurement unit and ultra-wide band signal (IMU-UWB) combined indoor positioning system has a nonlinear state equation and a linear measurement equation. In order to improve the computational efficiency and the localization performance in terms of the estimation accuracy, the federated...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-06-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/12/3514 |
| _version_ | 1797564500149272576 |
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| author | Chengyang He Chao Tang Chengpu Yu |
| author_facet | Chengyang He Chao Tang Chengpu Yu |
| author_sort | Chengyang He |
| collection | DOAJ |
| description | The inertial measurement unit and ultra-wide band signal (IMU-UWB) combined indoor positioning system has a nonlinear state equation and a linear measurement equation. In order to improve the computational efficiency and the localization performance in terms of the estimation accuracy, the federated derivative cubature Kalman filtering (FDCKF) method is proposed by combining the traditional Kalman filtering and the cubature Kalman filtering. By implementing the proposed FDCKF method, the observations of the UWB and the IMU can be effectively fused; particularly, the IMU can be continuously calibrated by UWB so that it does not generate cumulative errors. Finally, the effectiveness of the proposed algorithm is demonstrated through numerical simulations, in which FDCKF was compared with the federated cubature Kalman filter (FCKF) and the federated unscented Kalman filter (FUKF), respectively. |
| first_indexed | 2024-03-10T18:59:04Z |
| format | Article |
| id | doaj.art-3309da88d9f04ae7910202e149b0bdf3 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T18:59:04Z |
| publishDate | 2020-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-3309da88d9f04ae7910202e149b0bdf32023-11-20T04:31:52ZengMDPI AGSensors1424-82202020-06-012012351410.3390/s20123514A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor PositioningChengyang He0Chao Tang1Chengpu Yu2School of Automation, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Automation, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Automation, Beijing Institute of Technology, Beijing 100081, ChinaThe inertial measurement unit and ultra-wide band signal (IMU-UWB) combined indoor positioning system has a nonlinear state equation and a linear measurement equation. In order to improve the computational efficiency and the localization performance in terms of the estimation accuracy, the federated derivative cubature Kalman filtering (FDCKF) method is proposed by combining the traditional Kalman filtering and the cubature Kalman filtering. By implementing the proposed FDCKF method, the observations of the UWB and the IMU can be effectively fused; particularly, the IMU can be continuously calibrated by UWB so that it does not generate cumulative errors. Finally, the effectiveness of the proposed algorithm is demonstrated through numerical simulations, in which FDCKF was compared with the federated cubature Kalman filter (FCKF) and the federated unscented Kalman filter (FUKF), respectively.https://www.mdpi.com/1424-8220/20/12/3514federated derivative cubature Kalman filteringinformation fusionindoor positioning |
| spellingShingle | Chengyang He Chao Tang Chengpu Yu A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning Sensors federated derivative cubature Kalman filtering information fusion indoor positioning |
| title | A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning |
| title_full | A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning |
| title_fullStr | A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning |
| title_full_unstemmed | A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning |
| title_short | A Federated Derivative Cubature Kalman Filter for IMU-UWB Indoor Positioning |
| title_sort | federated derivative cubature kalman filter for imu uwb indoor positioning |
| topic | federated derivative cubature Kalman filtering information fusion indoor positioning |
| url | https://www.mdpi.com/1424-8220/20/12/3514 |
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